CN216138903U - Natural gas power plant main building intelligent inspection device based on robot technology - Google Patents
Natural gas power plant main building intelligent inspection device based on robot technology Download PDFInfo
- Publication number
- CN216138903U CN216138903U CN202121697460.6U CN202121697460U CN216138903U CN 216138903 U CN216138903 U CN 216138903U CN 202121697460 U CN202121697460 U CN 202121697460U CN 216138903 U CN216138903 U CN 216138903U
- Authority
- CN
- China
- Prior art keywords
- triode
- shaft
- robot
- resistor
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 32
- 238000007689 inspection Methods 0.000 title claims abstract description 17
- 239000003345 natural gas Substances 0.000 title claims abstract description 16
- 238000005516 engineering process Methods 0.000 title abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 18
- 238000013016 damping Methods 0.000 claims description 13
- 239000003292 glue Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 239000000779 smoke Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot-technology-based intelligent inspection device for a main plant of a natural gas power plant, which solves the problems of the prior art, the technical scheme is that the robot comprises a wheeled robot chassis, a robot workbench is arranged on the wheeled robot chassis, a storage battery is arranged in the robot workbench, a main camera is arranged at the front end face of the robot workbench, a mechanical arm is arranged at the top of the robot workbench, the mechanical arm comprises a lower section arm connected with the robot workbench through a first shaft, a middle section arm connected with the upper end of the lower section arm through a second shaft, an upper section arm connected with the upper end of the middle section arm through a third shaft, a detection holder with an auxiliary camera is horizontally arranged on the side face of the free end of the upper section arm, the first shaft, the second shaft and the third shaft are respectively provided with an independent rotating shaft motor, and the first shaft, the second shaft and the third shaft are driven by corresponding rotating shaft motors.
Description
Technical Field
The utility model belongs to an intelligent inspection device, and relates to an intelligent inspection device of a main plant of a natural gas power plant based on a robot technology.
Background
The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. Therefore, some complicated works, such as intelligent inspection of the main factory building of the power plant, can be delivered to the robot to be completed. The current robot is applied to more scenes of inspection, for example, the latest 6 th and 4 th months in 2021, Shenzhen China nuclear Puda measurement and science and technology Limited company discloses a fire scene monitoring robot (Chinese patent application No. CN202021950562. X), the application discloses a fire scene monitoring robot, which comprises a shell, a smoke sensor, a camera, an MCU controller and a master controller, wherein the smoke sensor, the MCU controller and the master controller are all installed in an inner cavity of the shell, the MCU controller and the camera are both electrically connected with the master controller, the smoke sensor is electrically connected with the MCU controller, a round hole is formed in the top end of a front panel of the shell, the camera is arranged in the round hole in a penetrating manner, the shell is provided with a power supply interface and a transmission interface, a mounting hole is formed in a bottom panel of the shell, and the shell is suitable for being screwed with the mounting plate through the mounting hole. However, in the prior art, for field detection of such complex environments as a main plant of a natural gas power plant, due to the fixed position of the camera, situations such as detection failure in a complex scene easily occur in the detection process, and therefore a dual-camera intelligent inspection device capable of performing auxiliary detection is needed.
SUMMERY OF THE UTILITY MODEL
The utility model solves the problems that in the prior art, field detection aiming at complex environments such as a main plant of a natural gas power plant is performed, and due to the fact that the position of a camera is fixed, detection is not in place easily in complex scenes in the detection process, and the like, and provides an intelligent inspection device for the main plant of the natural gas power plant based on the robot technology.
The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model provides a natural gas power plant owner factory building intelligence inspection device based on robotechnology, includes wheeled robot chassis, disposes the robot workstation on the wheeled robot chassis, dispose the battery in the robot workstation, the preceding terminal surface department of robot workstation disposes main camera, the top of robot workstation disposes an arm, the arm include the hypomere arm of being connected with the robot workstation through the primary shaft, through the middle section arm of secondary shaft with hypomere arm upper end being connected, through the upper segment arm of third axle with middle section arm upper end being connected, the free end side of upper segment arm has the detection cloud platform that has supplementary camera through horizontal installation, primary shaft, secondary shaft and third axle department all dispose independent pivot motor, primary shaft, secondary shaft and third axle drive by the pivot motor that corresponds, primary shaft and third axle, The axis body outside of secondary shaft and third axle all is equipped with the damping flexible glue, the axis body of primary shaft, secondary shaft and third axle all is through damping flexible glue and bushing, the pivot motor is connected through the main control unit electricity of a motor control circuit and configuration in the robot workstation, the pivot motor is miniature direct current motor, and when normal operating, the bottom surface of hypomere arm, middle section arm and upper segment arm all attaches at the top of robot workstation, and hypomere arm, middle section arm and upper segment arm lie in the coplanar each other, just detect the cloud platform and place for the level, supplementary camera alignment the place ahead, when needs the arm motion, make by pivot motor drive primary shaft, secondary shaft and third axle and detect the cloud platform and reach predetermined height. The utility model adopts a double-camera form, a main camera is the existing main camera, the utility model mainly adopts a chassis and an integral configuration scheme of a national robot, the whole is similar to a thermal power plant boiler group polling robot disclosed by (CN 201811375382.0), the difference is that the main camera is arranged at the front end surface of a robot worktable, the main camera is responsible for the control of the general integral operation state, the coordination and calling of the system and other operations, the main camera is electrically connected with a main controller, the utility model is provided with a mechanical arm and an auxiliary camera besides the main camera, the position and the angle of the auxiliary camera can be adjusted in real time through the arrangement of a three-section mechanical arm and a pan-tilt technology, thereby realizing the field detection of the complex environment such as a natural gas power plant main factory, and simultaneously, a shaft body with damping glue soft rubber is used for forming a damping shaft, the positioning and locking functions of the mechanical arm are guaranteed.
Preferably, the motor control circuit comprises a driving chip, a communication circuit and three groups of forward and reverse driving circuits, the driving chip is electrically connected with the main controller through the driving chip, the driving chip is electrically connected with a micro direct current motor through a group of forward and reverse driving circuits, and the driving chip outputs a control signal to the corresponding group of forward and reverse driving circuits after receiving a signal of the main controller. In the utility model, the three-section mechanical arm used for adjusting the auxiliary camera is controlled by three groups of rotating shaft motors, each group of rotating shaft is controlled by a forward and backward rotation driving circuit, the three groups of motors are controlled into a whole, and a main controller transmits a control command to a driving chip after finishing the whole judgment and drives the driving chip.
Preferably, the driving chip is a single chip, the set of forward and reverse driving circuits each include a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6, and a resistor R7, a resistor R8, a triode Q1, a triode Q2, a triode Q3, a triode Q4, a triode Q5 and a triode Q6, wherein an input/output port of the singlechip is connected with a base electrode of the triode Q2 through a resistor R1, a collector electrode of the triode Q2 is connected with a power supply through a resistor R2, an emitter electrode of the triode Q2 is grounded through a resistor R4, a collector electrode of the triode Q2 is also connected with a base electrode of the triode Q1 through a resistor R3, an emitter electrode of the triode Q1 is connected with the power supply, a collector electrode of the triode Q1 is connected with a first end of the rotating shaft motor, an emitter electrode of the triode Q2 is connected with a base electrode of the triode Q3, an emitter electrode of the triode Q3 is grounded, and a collector electrode of the triode Q3 is connected with a second end of the rotating shaft motor; the other input/output port of the single chip microcomputer is connected with the base electrode of a triode Q4 through a resistor R5, the collector electrode of a triode Q4 is connected with a power supply through a resistor R6, the emitter electrode of a triode Q4 is grounded through a resistor R8, the collector electrode of a triode Q4 is also connected with the base electrode of a triode Q5 through a resistor R7, the emitter electrode of a triode Q5 is connected with the power supply, the collector electrode of the triode Q5 is connected with the second end of the rotating shaft motor, the emitter electrode of a triode Q4 is connected with the base electrode of the triode Q6, the emitter electrode of a triode Q6 is grounded, and the collector electrode of a triode Q6 is connected with the first end of the rotating shaft motor.
Preferably, the serial port communication end of the driving chip is connected with the serial port output end of the communication chip, the serial port input end of the communication chip is electrically connected with the main controller, and the communication chip is an MX232 communication chip.
The substantial effects of the utility model are as follows: according to the utility model, the main camera is arranged on the front end face of the robot workbench and is responsible for the control of general overall running state, coordination calling of a system and other operations, the main camera is electrically connected with the main controller, the main camera is arranged with the mechanical arm and the auxiliary camera, and the position and the angle of the auxiliary camera can be adjusted in real time through the arrangement of the three-section mechanical arm and the pan-tilt-zoom technology, so that the field detection of complex environments such as a main plant of a natural gas power plant is realized, and meanwhile, the damping shaft is formed by using the shaft body with the damping rubber soft rubber, so that the positioning and locking functions of the mechanical arm are ensured.
Drawings
FIG. 1 is a schematic view of an overall frame structure according to the present invention;
FIG. 2 is a schematic view of the driving of the spindle motor according to the present invention;
fig. 3 is a schematic view of a portion of the spindle of the present invention.
In the figure: 1. the robot working table comprises a robot working table 2, a main camera 3, an auxiliary camera 4, a detection holder 11, a first shaft 12, a second shaft 13, a third shaft 21, a lower arm 22, a shaft body 23 and damping soft rubber.
Detailed Description
The technical solution of the present invention will be further specifically described below by way of specific examples.
Example 1:
an intelligent inspection device of a main plant of a natural gas power plant based on robot technology (see attached figure 1) comprises a wheeled robot chassis, a robot workbench 1 is arranged on the wheeled robot chassis, a chassis and an integral configuration scheme of a national robot are mainly adopted, the integral inspection device is similar to a thermal power plant boiler group inspection robot disclosed by (CN 201811375382.0), the difference is that a storage battery is arranged in the robot workbench, a main camera 2 is arranged at the front end face of the robot workbench, a mechanical arm is arranged at the top of the robot workbench, the mechanical arm comprises a lower section arm 21 connected with the robot workbench through a first shaft 11, a middle section arm connected with the upper end of the lower section arm through a second shaft 12, and an upper section arm connected with the upper end of the upper section arm through a third shaft 13, a detection cloud deck 4 with an auxiliary camera 3 is horizontally arranged on the side face of the free end of the upper section arm, the detection holder is the prior art, and needs to meet the stability requirement when being selected. The utility model discloses a robot working table, including robot working table, first axle, second axle and third axle department all dispose independent pivot motor, first axle, second axle and third axle drive by the pivot motor that corresponds, the axis body 21 outside of first axle, second axle and third axle all overlaps and is equipped with damping flexible glue 23, the axis body of first axle, second axle and third axle all is through damping flexible glue and bushing, the pivot motor is connected through a motor control circuit and the main control unit electricity of robot working table configuration, the pivot motor is miniature DC motor, and when normal operating, the bottom surface of hypomere arm, middle section arm and upper segment arm all is attached at the top of robot working table, and hypomere arm, middle section arm and upper segment arm lie in the coplanar each other, just the detection cloud platform is placed for the level, and supplementary camera aims the place ahead, when needs the arm motion, drives first axle by the pivot motor, The second axis and the third axis enable the detection head to reach a preset height. In the embodiment, the main camera is responsible for the control of the general overall running state, the coordination and calling of the system and other operations, the main camera is electrically connected with the main controller, the mechanical arm and the auxiliary camera are configured besides the main camera, the position and the angle of the auxiliary camera can be adjusted in real time through the arrangement of the three-section mechanical arm and the cradle head technology, so that the field detection of the complex environments such as a main plant of a natural gas power plant is realized, meanwhile, the damping shaft is formed by using the shaft body with the damping rubber flexible glue (see the attached drawing 3), and the positioning and locking functions of the mechanical arm are ensured. The motor control circuit comprises a driving chip, a communication circuit and three sets of forward and reverse driving circuits, wherein the driving chip is electrically connected with the main controller through the driving chip, the driving chip is electrically connected with a micro direct current motor through a set of forward and reverse driving circuits, and the driving chip outputs a control signal to the corresponding set of forward and reverse driving circuits after receiving a signal of the main controller.
The driving chip is a single chip microcomputer or other chips with similar functions, the group of forward and reverse rotation driving circuits (see figure 2) respectively comprise a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6 and a resistor R7, a resistor R8, a triode Q1, a triode Q2, a triode Q3, a triode Q4, a triode Q5 and a triode Q6, wherein an input/output port of the singlechip is connected with a base electrode of the triode Q2 through a resistor R1, a collector electrode of the triode Q2 is connected with a power supply through a resistor R2, an emitter electrode of the triode Q2 is grounded through a resistor R4, a collector electrode of the triode Q2 is also connected with a base electrode of the triode Q1 through a resistor R3, an emitter electrode of the triode Q1 is connected with the power supply, a collector electrode of the triode Q1 is connected with a first end of the rotating shaft motor, an emitter electrode of the triode Q2 is connected with a base electrode of the triode Q3, an emitter electrode of the triode Q3 is grounded, and a collector electrode of the triode Q3 is connected with a second end of the rotating shaft motor; the other input/output port of the single chip microcomputer is connected with the base electrode of a triode Q4 through a resistor R5, the collector electrode of a triode Q4 is connected with a power supply through a resistor R6, the emitter electrode of a triode Q4 is grounded through a resistor R8, the collector electrode of a triode Q4 is also connected with the base electrode of a triode Q5 through a resistor R7, the emitter electrode of a triode Q5 is connected with the power supply, the collector electrode of the triode Q5 is connected with the second end of the rotating shaft motor, the emitter electrode of a triode Q4 is connected with the base electrode of the triode Q6, the emitter electrode of a triode Q6 is grounded, and the collector electrode of a triode Q6 is connected with the first end of the rotating shaft motor. The serial port communication end of the driving chip is connected with the serial port output end of the communication chip, the serial port input end of the communication chip is electrically connected with the main controller, and the communication chip is an MX232 communication chip.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the utility model as set forth in the claims.
Claims (4)
1. The utility model provides a natural gas power plant owner factory building intelligence inspection device based on robotechnology, its characterized in that: the robot comprises a wheeled robot chassis, a robot workbench is arranged on the wheeled robot chassis, a storage battery is arranged in the robot workbench, a main camera is arranged at the front end face of the robot workbench, a mechanical arm is arranged at the top of the robot workbench, the mechanical arm comprises a lower section arm connected with the robot workbench through a first shaft, a middle section arm connected with the upper end of the lower section arm through a second shaft, and an upper section arm connected with the upper end of the middle section arm through a third shaft, a detection holder with an auxiliary camera is horizontally arranged at the side face of the free end of the upper section arm, independent rotating shaft motors are arranged at the first shaft, the second shaft and the third shaft, the first shaft, the second shaft and the third shaft are driven by the corresponding rotating shaft motors, and damping soft rubber is sleeved at the outer sides of the first shaft, the second shaft and the third shaft, the axis body of primary shaft, secondary shaft and third axle all is through damping flexible glue and bushing, the pivot motor is connected through the main control unit electricity of a motor control circuit and the interior configuration of robot workstation, the pivot motor is miniature direct current motor, and when normal operating, the bottom surface of hypomere arm, middle section arm and upper segment arm is all attached at the top of robot workstation, and hypomere arm, middle section arm and upper segment arm lie in the coplanar each other, just detect the cloud platform and place for the level, and the accurate the place ahead of supplementary camera, when the motion of needs arm, make by pivot motor drive primary shaft, secondary shaft and third axle and detect the cloud platform and reach predetermined height.
2. The robot-based intelligent inspection device for natural gas power plant main buildings according to claim 1, characterized in that: the motor control circuit comprises a driving chip, a communication circuit and three sets of forward and reverse driving circuits, wherein the driving chip is electrically connected with the main controller through the driving chip, the driving chip is electrically connected with a micro direct current motor through a set of forward and reverse driving circuits, and the driving chip outputs a control signal to the corresponding set of forward and reverse driving circuits after receiving a signal of the main controller.
3. The robot-based intelligent inspection device for natural gas power plant main buildings according to claim 2, characterized in that: the driving chip is a singlechip, the group of forward and reverse rotation driving circuits respectively comprise a resistor R1, a resistor R2, a resistor R3, a resistor R4, a resistor R5, a resistor R6 and a resistor R7, a resistor R8, a triode Q1, a triode Q2, a triode Q3, a triode Q4, a triode Q5 and a triode Q6, wherein an input/output port of the singlechip is connected with a base electrode of the triode Q2 through a resistor R1, a collector electrode of the triode Q2 is connected with a power supply through a resistor R2, an emitter electrode of the triode Q2 is grounded through a resistor R4, a collector electrode of the triode Q2 is also connected with a base electrode of the triode Q1 through a resistor R3, an emitter electrode of the triode Q1 is connected with the power supply, a collector electrode of the triode Q1 is connected with a first end of the rotating shaft motor, an emitter electrode of the triode Q2 is connected with a base electrode of the triode Q3, an emitter electrode of the triode Q3 is grounded, and a collector electrode of the triode Q3 is connected with a second end of the rotating shaft motor; the other input/output port of the single chip microcomputer is connected with the base electrode of a triode Q4 through a resistor R5, the collector electrode of a triode Q4 is connected with a power supply through a resistor R6, the emitter electrode of a triode Q4 is grounded through a resistor R8, the collector electrode of a triode Q4 is also connected with the base electrode of a triode Q5 through a resistor R7, the emitter electrode of a triode Q5 is connected with the power supply, the collector electrode of the triode Q5 is connected with the second end of the rotating shaft motor, the emitter electrode of a triode Q4 is connected with the base electrode of the triode Q6, the emitter electrode of a triode Q6 is grounded, and the collector electrode of a triode Q6 is connected with the first end of the rotating shaft motor.
4. The robot-based intelligent inspection device for natural gas power plant main buildings according to claim 3, characterized in that: the serial port communication end of the driving chip is connected with the serial port output end of the communication chip, the serial port input end of the communication chip is electrically connected with the main controller, and the communication chip is an MX232 communication chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121697460.6U CN216138903U (en) | 2021-07-26 | 2021-07-26 | Natural gas power plant main building intelligent inspection device based on robot technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121697460.6U CN216138903U (en) | 2021-07-26 | 2021-07-26 | Natural gas power plant main building intelligent inspection device based on robot technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216138903U true CN216138903U (en) | 2022-03-29 |
Family
ID=80802823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121697460.6U Expired - Fee Related CN216138903U (en) | 2021-07-26 | 2021-07-26 | Natural gas power plant main building intelligent inspection device based on robot technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216138903U (en) |
-
2021
- 2021-07-26 CN CN202121697460.6U patent/CN216138903U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110434824A (en) | A kind of redundancy both arms cooperation robot | |
| CN216138903U (en) | Natural gas power plant main building intelligent inspection device based on robot technology | |
| CN109227546A (en) | A kind of wired home robot system that can remotely monitor based on P2P | |
| CN105630007A (en) | Computer with function of automatic adjustment based on smart home | |
| CN216052750U (en) | Control circuit of double-shaft servo image stabilization system | |
| CN205968985U (en) | Portable investigation robot based on intelligent Mobile Terminal control | |
| CN212352097U (en) | Domestic intelligent patrol robot | |
| CN208020187U (en) | A kind of workbench for the people that puts together machines for multistation air valve | |
| CN218352628U (en) | Transformer substation safety behavior detection device | |
| CN205608466U (en) | Video monitoring travelling car system based on singlechip | |
| CN210205678U (en) | Fire extinguishing device for security robot | |
| CN105058379B (en) | Rectangular coordinate mechanical arm control system | |
| CN211055294U (en) | Two-wheeled self-balancing mobile robot | |
| CN208946145U (en) | A kind of smog crusing robot | |
| CN219293984U (en) | Data center inspection robot | |
| CN206412807U (en) | A kind of two-degree-of-freedorobot robot charging pile | |
| CN208514495U (en) | A kind of six-joint robot talked with | |
| CN212413312U (en) | Remote monitoring intelligent robot | |
| CN213771075U (en) | Tower crane lifting hook visualization device based on UWB following technology | |
| CN216759898U (en) | Power plant's electricity distribution room patrols and examines robot elevating gear | |
| CN205679142U (en) | A kind of military intelligent integral rotates target drone | |
| CN219180123U (en) | Outdoor waterproof full-color screen | |
| CN219105649U (en) | Detachable control panel of intelligent trolley | |
| CN110480605A (en) | A kind of industrial robot arm of production line | |
| CN215416382U (en) | Industrial plant is with indoor controlling means that patrols and examines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220329 |